hlrc / client / cpp / src / Middleware.cpp @ c6fcfba9
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| 1 | 0c286af0 | Simon Schulz | /*
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| 2 | * This file is part of hlrc
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| 3 | *
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| 4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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| 5 | * http://opensource.cit-ec.de/projects/hlrc
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| 6 | *
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| 7 | * This file may be licensed under the terms of the
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| 8 | * GNU General Public License Version 3 (the ``GPL''),
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| 9 | * or (at your option) any later version.
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| 10 | *
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| 11 | * Software distributed under the License is distributed
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| 12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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| 13 | * express or implied. See the GPL for the specific language
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| 14 | * governing rights and limitations.
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| 15 | *
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| 16 | * You should have received a copy of the GPL along with this
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| 17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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| 18 | * or write to the Free Software Foundation, Inc.,
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| 19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 20 | *
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| 21 | * The development of this software was supported by the
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| 22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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| 23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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| 24 | * Forschungsgemeinschaft (DFG) in the context of the German
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| 25 | * Excellence Initiative.
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| 26 | *
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| 27 | */
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| 28 | |||
| 29 | #include "Middleware.h" |
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| 30 | |||
| 31 | using namespace std; |
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| 32 | |||
| 33 | Middleware::Middleware(string scope){
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| 34 | base_scope = scope; |
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| 35 | } |
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| 36 | |||
| 37 | void Middleware::set_default_emotion(RobotEmotion e, bool blocking){ |
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| 38 | defaultEmotion = e; |
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| 39 | publish_default_emotion(defaultEmotion, blocking); |
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| 40 | } |
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| 41 | |||
| 42 | void Middleware::set_current_emotion(RobotEmotion e, bool blocking){ |
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| 43 | currentEmotion = e; |
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| 44 | publish_current_emotion(currentEmotion, blocking); |
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| 45 | } |
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| 46 | |||
| 47 | RobotEmotion Middleware::get_current_emotion(){
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| 48 | return currentEmotion;
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| 49 | } |
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| 50 | |||
| 51 | RobotEmotion Middleware::get_default_emotion(){
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| 52 | return defaultEmotion;
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| 53 | } |
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| 54 | |||
| 55 | void Middleware::set_gaze_target(RobotGaze target, bool blocking){ |
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| 56 | //printf("> Middleware::set_gaze_target({%4.1f %4.1f %4.1f %4.1f}, %s)\n",target.pan,target.roll,target.tilt,target.vergence,blocking?"BLOCKING":"NONBLOCKING");
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| 57 | gazeTarget = target; |
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| 58 | publish_gaze_target(gazeTarget, blocking); |
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| 59 | } |
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| 60 | |||
| 61 | f0dcf4ca | Robert Haschke | void Middleware::set_lookat_target(float x, float y, float z, const string frame_id, bool blocking, float roll) |
| 62 | {
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| 63 | publish_lookat_target(x,y,z, frame_id, blocking, roll); |
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| 64 | } |
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| 65 | |||
| 66 | 0c286af0 | Simon Schulz | void Middleware::set_mouth_target(RobotMouth target, bool blocking){ |
| 67 | mouthTarget = target; |
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| 68 | publish_mouth_target(mouthTarget, blocking); |
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| 69 | } |
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| 70 | |||
| 71 | |||
| 72 | RobotGaze Middleware::get_gaze_target(){
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| 73 | return gazeTarget;
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| 74 | } |
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| 75 | |||
| 76 | void Middleware::set_head_animation(RobotHeadAnimation a, bool blocking){ |
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| 77 | headAnimation = a; |
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| 78 | publish_head_animation(headAnimation, blocking); |
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| 79 | } |
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| 80 | |||
| 81 | void Middleware::set_speak(string text, bool blocking){ |
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| 82 | publish_speech(text, blocking); |
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| 83 | } |